ehalicki/lewam_eval_pusht_selfwam_mot_mse_frozen

This dataset was created using LeRobot.

Dataset Description

Real-robot evaluation rollouts recorded on a Rebot B601 7-DoF arm, from the LeWAM project. Every episode here is a policy rollout on the physical robot — not a teleoperated demonstration — scored by a human operator immediately after it ran.

• Task: non-prehensile PushT (b601_pusht): the arm pushes a T-shaped block into a target pose without grasping it. Shares only its name with the simulated PushT. Trained on ehalicki/b601_pusht.
• Policy: LeWAM self-supervised WAM (selfwam_mot_mse_frozen), the same joint action + future-latent objective, but with the vision encoder frozen
• Success rate: 12/30 = 40.0%
• Episodes: 30 · frames: 56963 · fps: 30 · robot time: 31.6 min
• Wall-clock: 47.2 min (median 96s, max 293s per episode) — longer than robot time because inference on this hardware runs slower than real time
• wandb run: tkxakevf (eval-pusht_selfwam_mot_mse_frozen)
• Episode cap: 5400 steps — an episode that hits it is scored a failure.

Observations

Three synchronised camera streams (observation.images.zed_left, observation.images.zed_right from a ZED Mini, observation.images.wrist_cam from a wrist-mounted USB camera) plus observation.state. action is the 7-DoF joint command the policy emitted.

Note the policies were served torque-only state (observation.state sliced to *.torq); the observation.state recorded here is the robot's full state vector, so reproducing what the policy actually saw means applying the same slice.

Per-episode scoring

eval_session.json holds the operator's label for each episode:

episode	success	steps	seconds
0	❌	4370	210.2
1	❌	1315	93.0
2	❌	1994	99.9
3	✅	290	16.4
4	❌	3235	152.1
5	✅	552	28.9
6	❌	2540	121.8
7	✅	2144	103.2
8	❌	1125	55.4
9	✅	2225	110.9
10	✅	543	28.5
11	❌	1928	93.2
12	✅	1378	68.8
13	❌	2000	96.5
14	❌	1166	60.8
15	❌	1600	77.1
16	✅	477	25.7
17	❌	2972	141.9
18	❌	2218	106.0
19	✅	2823	134.9
20	✅	1254	61.9
21	❌	906	44.2
22	❌	5400	293.3
23	✅	2234	108.7
24	✅	680	34.5
25	❌	2162	105.4
26	✅	2985	144.3
27	❌	1117	54.1
28	❌	2294	109.8
29	❌	1065	52.2

• Homepage: https://github.com/erykhalicki/LeWAM
• Paper: [More Information Needed]
• License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                21
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_yaw.pos",
                "wrist_roll.pos",
                "gripper.pos",
                "shoulder_pan.torq",
                "shoulder_lift.torq",
                "elbow_flex.torq",
                "wrist_flex.torq",
                "wrist_yaw.torq",
                "wrist_roll.torq",
                "gripper.torq",
                "shoulder_pan.vel",
                "shoulder_lift.vel",
                "elbow_flex.vel",
                "wrist_flex.vel",
                "wrist_yaw.vel",
                "wrist_roll.vel",
                "gripper.vel"
            ]
        },
        "observation.images.zed_left": {
            "dtype": "video",
            "shape": [
                376,
                672,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 376,
                "video.width": 672,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.zed_right": {
            "dtype": "video",
            "shape": [
                376,
                672,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 376,
                "video.width": 672,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.wrist_cam": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_yaw.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    },
    "total_episodes": 30,
    "total_frames": 56963,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": null,
    "splits": {
        "train": "0:30"
    }
}

Citation

BibTeX:

[More Information Needed]